//
// Created by Zhang Zhimeng on 2021/11/26.
//

#include "path_searcher/a_star/a_star_2d_flow.h"

#include "3rd/backward.hpp"

#include <ros/ros.h>

namespace backward {
backward::SignalHandling sh;
}


int main(int argc, char **argv) {
    ros::init(argc, argv, "run_astar_2d");
    ros::NodeHandle node_handle("~");

    AStar2DFlow astar_2d_flow(node_handle);

    ros::Rate rate(10);

    while (ros::ok()) {

        astar_2d_flow.Run();

        ros::spinOnce();
        rate.sleep();
    }

    return 0;
}
